Haptic remote control for toys

ABSTRACT

A haptic feedback remote control device provides control signals to a toy device, such as a car, boat, plane, etc., to control the toy&#39;s operation. The remote control device includes a housing and at least one control for manual manipulation by the user, where control signals representing the manipulation are sent to the toy, preferably transmitted wirelessly. An actuator outputs forces on the housing and/or on a control in response to actuator signals. A controller provides the actuator signals based on the manual manipulation of the control by the user, or based on status signals from the toy indicating the toy&#39;s actions or interactions, or based on both. In one embodiment, the actuator moves an inertial mass to provide inertial sensations on the housing. The information received from the toy device can include information from a contact sensor or inertial sensor on the toy device.

BACKGROUND OF THE INVENTION

The present invention relates generally to the interfacing with remotedevices by a user, and more particularly to devices used to interfacewith remote control toys and which provide haptic feedback to the user.

Humans interface with electronic and mechanical devices in a variety ofapplications, and the need for a more natural, easy-to-use, andinformative interface is a constant concern. In the context of thepresent invention, one such application is the remote control of movingdevices such as toy vehicles. For example, remote control toy cars arecommon, which are small cars that move under their own power, e.g. usingbatteries or gasoline. The user may typically control the direction ofturning, the braking, and/or the forward/back direction of the car byusing a remote control unit, which typically sends signals to the carvia wireless transmission. Some remote control toys with limited motionmay include a wire connecting the remote control unit with thecontrolled toy or device to allow the signals to be transmitted to thetoy. The remote control unit may include joysticks, dials, switches,buttons, or other controls to assist the user in the control of the toy.Other types of moving toys and devices can be similarly controlled, suchas flying toys (e.g., planes, helicopters, rockets), water toys (e.g.,boats and submarines), trucks, robots, toy animals, etc.

One type of functionality missing from toy remote control devices iskinesthetic force feedback and/or tactile feedback, collectively knownherein as “haptic feedback.” Haptic feedback can be added to suchinterface control devices to provide the user with a more interactiveexperience and to provide greater ease in interfacing and controllingthe remote toy device.

SUMMARY OF THE INVENTION

The present invention provides a haptic feedback remote control devicefor controlling moving toy devices such as cars, boats, etc. The remotecontrol unit provides haptic feedback to the user that provides a morecompelling experience when controlling the toy.

More particularly, a haptic feedback remote control device providescontrol signals to a toy device, such as a car, boat, plane, etc., tocontrol the operation of the toy device. The remote control deviceincludes a housing and at least one control for manual manipulation bythe user, where control signals representing the manipulation are sentto the toy device to control the operation of the toy device. Anactuator outputs forces on the housing in response to received actuatorsignals, and a controller provides the actuator signals to the actuatorand monitors the control signals representing the manipulation of thecontrol. The controller can determine the forces based only on themanual manipulation of the control by the user, or based partially onthe manipulation. In one embodiment, the actuator moves an inertial massto provide inertial haptic sensations on the housing, the inertialhaptic sensations being felt by the user. The control includes a levermovable along an axis, a steering wheel or knob, or other control.Preferably, the control signals sent to the toy device are transmittedwirelessly to the toy device. For example, the control can be a throttlecontrol or steering control.

An additional feature in some embodiments allows the controller todetermines the forces based only or partially on information receivedfrom the toy device. For example, the information received from the toydevice can includes information from a contact sensor on the toy devicethat indicates whether the toy device has contacted another object at alocation of the contact sensor. The information can indicate a degree ofcontact of the toy device with the other object. In another embodiment,the information can indicate an amount of acceleration experienced bythe toy device in at least one dimension of the toy device.

In another embodiment, an actuator in the remote control unit can outputforces on the control manipulated by the user in response to thereceived electrical signals. The forces can be determined based only orpartially on the local manipulation of the control(s), or partially orwholly on information indicating the status of the controlled toy. Anembodiment of a remote control toy device includes a remote control unitas described above and a toy device operable to physically move inaccordance with the control signals. Another embodiment is a method forcontrolling a toy device based on manipulation of a remote control unitby a user provide haptic sensations to the user.

The present invention provides a haptic feedback remote control devicethat provides haptic sensations to the user when controlling a toyvehicle or other toy device. This allows the user to experience anotherdimension in sensory feedback when controlling a toy remotely. Thesensations can simulate what the toy is currently experiencing and canalso inform the user of the status of the toy, thereby enhancing theuser's control over the toy.

These and other advantages of the present invention will become apparentto those skilled in the art upon a reading of the followingspecification of the invention and a study of the several figures of thedrawing.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of remote control system of the presentinvention, including a remote control unit and a toy device;

FIG. 2 is a side elevational cross-sectional view of the remote controlunit of FIG. 1;

FIG. 3 is a perspective view of one embodiment of an actuator assemblysuitable for use in the remote control unit of the present invention;

FIG. 4 is a perspective view of another embodiment of an actuatorassembly suitable for use in the remote control unit of the presentinvention;

FIG. 5 is a side elevational view of the toy device of the presentinvention that includes an accelerometer for determining accelerationson the toy;

FIG. 6 is a perspective view of one embodiment of a lever on the remotecontrol provided with kinesthetic force feedback by a motor; and

FIG. 7 is a block diagram illustrating the components of the remotecontrol unit and the toy device of the present invention.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

In FIG. 1, a remote control toy system 10 of the present invention isshown. Remote control toy system 10 includes a remote control 12 and acontrolled toy 14.

Remote control 12 is operated by a user to control the toy 14. Remotecontrol 12 is typically small enough to be held in one or both hands ofthe user and may include a variety of controls. For example, a joystickor lever 20 can be moved by the user up or down to command the toy 14 tomove forward or back, respectively. In some rate control embodiments,the distance that the lever 20 is moved from an origin position (such asthe center of the lever's range) controls the velocity of the controlledtoy in the appropriate direction. Lever 22 can be moved left or right tocommand the toy to turn left or right, respectively. In some ratecontrol embodiments, the distance that the lever 22 is moved from anorigin position controls the amount or tightness of the turn of the toy.Other buttons, small steering wheels, knobs, dials, joysticks,trackballs, switches, direction pads, levers, or other controls can beincluded to command various other functions of the toy, such as to brakeor stop the toy, power or start the toy, turn on headlights, changedriving modes, sound a horn, etc. and/or to control steering andthrottle functions instead of levers 20 and 22, and any of thesecontrols can be provided with haptic feedback as described herein Someembodiments may provide the functionality of the remote control 12 inanother device, such as a cell phone, portable computer (e.g. laptop orPDA), wristwatch, etc.

Remote control 12 may include a wireless transmission device fortransmitting control signals through the air to the toy 14. Theimplementation of such a transmission device is well known to those ofskill in the art. Often, remote control 12 includes an antenna 23 tobroadcast radio frequency (RF) (or other frequency range) controlsignals at a desired frequency. In other embodiments, the controlsignals from the remote control can be sent along a wire or othertransmission line that physically couples the remote control 12 to thetoy 14. Some embodiments may allow the remote control 12 to receivesignals from the toy 14, as detailed below; in such embodiments,appropriate receiver electronics are included in the remote control 12.

In the present invention, remote control 12 includes haptic feedbackfunctionality. This functionality can be provided using one or moreactuators included within or coupled to the housing 24 of the remotecontrol 12. Various embodiments of the haptic remote control aredescribed in detail below.

Toy 14 is shown in FIG. 1 as a remote controlled race car. Toy 14 caninclude chassis 26, wheels 28, and antenna 30. Chassis 26 includes oneor more motors (not shown) for causing the toy to move, causing thewheels to turn, etc. In some embodiments, batteries are stored in thechassis 26 to provide power to the motors; other embodiments may provideother power sources, such as liquid fuel (e.g., gasoline). Antenna 30allows the toy 26 to receive the command signals sent wirelessly by theremote control 12.

Toy 14 includes receiver electronics for receiving the commands from theremote control 12, e.g. at the proper broadcast frequency. In thoseembodiments in which information is transmitted to the remote control 12from the toy 14, the toy 14 includes a transmitter, e.g. a wirelesstransmitter similar to the transmitter used by the remote control 12.Other components of the toy can include a microprocessor or othercontroller for implementing received commands, controlling the motors,reading sensors (for those embodiments including sensors), etc.

Other types of moving toy vehicles and devices can be similarlycontrolled, such as flying toy vehicles (e.g., planes, helicopters,rockets), water toy vehicles (e.g., boats and submarines), trucks,robots, toy animals, etc.

Local Haptic Sensation Embodiments

FIG. 2 is a side elevational view of a first embodiment of a remotecontrol 12 of the present invention. In this embodiment, tactilefeedback is provided to the user based on local actions taken by theuser with the controls of the remote control 12.

The housing 24 of the remote control 12 includes an actuator assembly 50which outputs forces on the housing 24 of the remote control 12. In thedescribed embodiment, actuator assembly 50 oscillates an inertial massin an approximately linear motion. The oscillations provided by themovement of the inertial mass are transmitted to the housing 24, wherethe user contacting the housing feels them as tactile sensations. Theinertial mass can preferably be oscillated at different frequencies andforce magnitudes to provide a variety of tactile sensations, such aspulses and vibrations.

One embodiment of an actuator assembly 50 is described below withreference to FIG. 3, where the actuator itself is oscillated as aninertial mass. In other embodiments, other types of actuator assembliescan be used. For example, an eccentric mass can be coupled to anactuator shaft and rotated, as described below with reference to FIG. 4.Other embodiments can employ a linear voice coil actuator or movingmagnet actuator to move a coil or a magnet, respectively, and produceinertial pulses or vibrations. Some inertial feedback embodiments aredescribed in copending application 09/456,887, which is incorporatedherein by reference in its entirety. In still other embodiments, theactuator can drive a member to impact the housing and cause tactilefeedback from one or more such impacts.

Other embodiments of the present invention can cause tactile feedback toa portion of the housing 24. For example, a portion of the housing canbe made moveable with respect to the remaining portion of the housing.The moveable portion can be coupled to the actuator assembly and movedto provide tactile sensations. The moveable portion can be positioned ata location on the housing that is contacted by the user when holding,contacting or supporting the remote control 12 during normal use. In oneembodiment, the moveable portion can be moved away from (e.g.perpendicular to) the outer surface of the stationary portion of thehousing, such as a cover on a hinge, to move against the user's fingeror palm. In other embodiments, the moveable portion can be movedlaterally, parallel to the outer surface of the housing and in shearwith the user's skin contacting the moveable portion (or both lateraland perpendicular motion can be provided). Some embodiments of amoveable surface portion are described in U.S. Pat. No. 6,184,868, whichis incorporated herein by reference in its entirety.

A battery 60 or other power storage element can be included in theremote control 12 to supply power to the actuator assembly 50 and othercomponents, such as a local microprocessor, transmitter, lights on thedevice, etc. Battery 60 can be the disposable form of battery, or arechargeable battery which the user can remove, recharge, and replace.Some embodiments can provide a convenient compartment door in thehousing 24 to allow easy access to the battery 60 by the user. One ormore batteries 60 can be provided in the remote control 12 for thedesired amount of power. Other types of power storage elements thatsupply power may be used in other embodiments. In some embodiments, thebattery 60 may be recharged without the user having to remove it fromthe device housing 24. For example, the housing 24 can include a“docking port” or electrical connector connected to a rechargeablebattery 60 which allows the remote control 12 to be plugged into amating connector on a recharging power source device that is, forexample, connected to a standard AC power outlet.

Battery 60 can be a heavy component and thus may be disadvantageous inan inertial haptic feedback device. The heaviness of the battery 60 canadd to the overall mass of the device, which may weaken the strength ofthe inertial haptic sensations output by actuator assembly 50 and feltby the user. To compensate for this effect, a flexible or compliantcoupling between the battery 60 and the housing 24 may be used; otherembodiments may use a rubber or other compliant layer or spring element.Layer 62 allows the battery 60 to move at least partially independentlyof the housing 2, and thus inertially decouples the battery 60 from thehousing 24. The layer 62 reduces the intertial contribution of thebattery 60 to the system and allows the user to feel stronger tactilesensations within the given actuator assembly 50 than if the battery 60were rigidly coupled to the housing without layer 62. These embodimentsare described in greater detail in copending patent application09/771,116, filed Jan. 26, 2001, and incorporated herein by reference inits entirety.

FIG. 3 is a perspective view of one embodiment 100 of the actuatorassembly 50 for use in the remote control 12. Actuator assembly 100includes a grounded flexure 120 and an actuator “0 coupled to theflexure 120. The flexure 120 can be a single, unitary piece made of amaterial such as polypropylene plastic (“living hinge” material) orother flexible material. Flexure 120 can be grounded to the housing 24of the remote control 12, for example, at portion 121.

Actuator 110 is shown coupled to the flexure 120. The housing of theactuator is coupled to a receptacle portion 122 of the flexure 120 whichhouses the actuator 110 as shown. A rotating shaft 124 of the actuatoris coupled to the flexure 120 in a bore 125 of the flexure 120 and isrigidly coupled to a central rotating member 130. The rotating shaft 124of the actuator is rotated about an axis B which also rotates member 130about axis B. Rotating member 130 is coupled to a first portion 132 a ofan angled member 131 by a flex joint 134. The flex joint 134 preferablyis made very thin in the dimension it is to flex so that the flex joint134 will bend when the rotating portion 130 moves the first portion 132a approximately linearly. The first portion 132 a is coupled to thegrounded portion 140 of the flexure by a flex joint 138 and the firstportion 132 a is coupled to a second portion 132 b of the angled memberby flex joint 142. The second portion 132 b, in turn, is coupled at itsother end to the receptacle portion 122 of the flexure by a flex joint144.

The angled member 131 that includes first portion 132 a and secondportion 132 b moves linearly along the x-axis as shown by arrow 136. Inactuality, the portions 132 a and 132 b move only approximatelylinearly. When the flexure is in its origin position (rest position),the portions 132 a and 132 b are preferably angled as shown with respectto their lengthwise axes. This allows the rotating member 130 to push orpull the angled member 131 along either direction as shown by arrow 136.

The actuator 110 is operated in only a fraction of its rotational rangewhen driving the rotating member 130 in two directions, allowing highbandwidth operation and high frequencies of pulses or vibrations to beoutput. To channel the compression or stretching of the flexure into thedesired z-axis motion, a flex joint 152 is provided in the flexureportion between the receptacle portion 122 and the grounded portion 140.The flex joint 152 allows the receptacle portion 122 (as well as theactuator 110, rotating member 130, and second portion 132 b) to move(approximately) linearly in the z-axis in response to motion of theportions 132 a and 132 b. A flex joint 150 is provided in the firstportion 132 a of the angled member 131 to allow the flexing about flexjoint 152 in the z-direction to more easily occur.

By quickly changing the rotation direction of the actuator shaft 124,the actuator/receptacle can be made to oscillate along the z-axis andcreate a vibration on the housing 24 with the actuator 110 acting as aninertial mass. Preferably, enough space is provided above and below theactuator to allow its range of motion without impacting any surfaces orportions of the housing 24. In addition, the flex joints included inflexure 120, such as flex joint 152, act as spring members to provide arestoring force toward the origin position (rest position) of theactuator 110 and receptacle portion 132. In some embodiments, the stopscan be included in the flexure 120 to limit the motion of the receptacleportion 122 and actuator 110 along the z-axis.

FIG. 4 is a perspective view of another embodiment 170 of an actuatorassembly 50 suitable for use in the remote control 12 to provide tactilesensations to the user. Actuator assembly 170 includes an actuator 176,such as a DC motor, which includes a shaft 172 that rotates about anaxis C, and an eccentric mass 174 that is rigidly coupled to the shaft172 and thus rotates with the shaft about axis C. In one embodiment, thehousing of the actuator 176 is coupled to the housing of the remotecontrol 12, e.g. the actuator can be attached to the inside of thehousing of the remote control. In other embodiments, the actuator can becoupled to a movable manipulandum, such as a joystick or mouse, or othermember.

Many different types and shapes of eccentric masses 174 can be used. Awedge- or pie-shaped eccentric can be used, as shown, where one end ofthe eccentric is coupled to the shaft 172 so that most of the wedgeextends to one side of the shaft. Alternatively, a cylindrical orother-shaped mass can be coupled to the shaft 172. The center of themass 174 is positioned to be offset from the axis of rotation C of theshaft 172, creating an eccentricity parameter that is determined by thedistance between the axis of rotation of the shaft 172 and the center ofmass of the mass 174. The eccentricity can be adjusted in differentdevice embodiments to provide stronger or weaker vibrations, as desired.Greater magnitude is generally obtained by changing the eccentricity ifthe motor is driven constantly in one direction.

When the eccentric mass 174 is rotated by the motor 170, a vibration isinduced in the motor and in any member coupled to the motor due to theoff-balance motion of the mass. Since the housing of motor 176 ispreferably coupled to a housing of the remote control 12, the vibrationis transmitted to the user that is holding the housing. One or more ofmotors 176 can be included in a control 14 to provide vibrotactile orother haptic feedback; for example, two motors may be used to providestronger magnitude vibrations and/or vibrations in two differentdirections.

Other types of actuator assemblies may also be used, as disclosed inU.S. Pat. No. 6,184,868, such as a linear voice coil actuator, solenoid,moving magnet actuator, etc.

Haptic Sensations

Different types of haptic sensations can be output to the user in thelocal haptic sensation embodiment. Since the haptic sensations aredetermined based only on the local actions of the user on the remotecontrol 12, the sensations can be based on specific actions or controlsmanipulated by the user.

Engine vibration: The actuator assembly 50 can be controlled to outputhaptic sensations that are meant to simulate the vibration of an enginein a vehicle. This vibration sensation can have a magnitude and/orfrequency correlated to the position of a throttle control, such aslever 20 in FIG. 1, which controls the speed of the toy 14. For example,as the forward speed of the toy is increased, the magnitude andfrequency of the imparted vibration sensation is increased. At highspeeds of the toy, a high magnitude and high frequency vibration can beimparted to the user, while at low speeds, a soft “idling” sensation canbe imparted. When the user moves the lever 20 to command the toy to movein reverse, a unique haptic sensation associated with the reversedirection can be output, e.g. a lower frequency vibration.

Turning: Haptic sensations can be controlled to be correlated with theuser manipulating controls to turn the toy 14. For example, left-rightlever 22 can be used to turn the toy left or right. In some embodiments,the amount of movement of the lever from the origin position controlsthe tightness of the turn; when the lever is fully left or right, thetoy turns in its smallest turning radius. Vibrations can be output onthe remote control 12 to indicate the tightness of the turn. Forexample, a wide turn can be associated with a lower-frequency vibration,while a tight turn can be associated with a higher-frequency vibration.In some embodiments, both the speed and turn controls can be used in thedetermination of a haptic sensation. For example, a fast, tight turn cancause sporadic pulses as haptic sensations, which simulate the feel oftires of the toy losing traction with the ground.

Other sensations: Other controls on the remote control 12 can beassociated with haptic sensations. If there is a braking control thatcommands the toy to apply brakes or slow down its motion, a vibrationcan be output during the braking. Horns, blinking lights, or otherfunctions of the toy controlled from the remote control 12 can also beassociated with different haptic sensations.

Kinesthetic force feedback can also be output on the controls of theremote control, which is forces in one or more of the sensed degrees offreedom of a manipulandum. For example, a motor or other actuator canoutput forces in the degree of freedom of lever 20 and 22, in the degreeof freedom of motion of a button or switch, in the rotary degree offreedom of a small steering wheel or knob, etc. Some embodiments forproviding such haptic feedback are described below with respect to FIG.6.

In a kinesthetic force feedback embodiment, time-based haptic effectscan be output in the degree of freedom of a control, similar to thetactile effects described above. For example, a vibration or jolt can bedirectly output on the lever 20 or 22 while the user is holding it whencontrolling the toy 14 in a desired manner. The magnitude and/orfrequency of the jolt or vibration can be based on the position of thecontrol in its degree of freedom, and/or can simulate engine rumble,turning radius, etc.

Furthermore, more sophisticated haptic sensations can be output in thekinesthetic force feedback embodiment. For example, a spring sensationgenerated by an actuator can provide a restoring force to a lever to itsorigin position. A tight or high-magnitude spring can be output for afast turn of the toy 14, while a loose, low-magnitude spring can beoutput for a slow turn to simulate driving conditions at those speeds.Detents in the lever (or other control) motion can be output to markparticular positions to the user, e.g. each ¼ of the lever range movedprovides a detent to let the user haptically know how fast he or she iscontrolling the car to move or how tight a turn is being controlled. Thedetents can be implemented as jolts, spring forces, or other forceprofiles. A damping force can resist lever motion based on the velocityof lever motion. A barrier or obstruction force can prevent or resistmotion of a control past a desired limit.

Haptic Feedback Based on Information from the Controlled Toy

More sophisticated embodiments of the present invention are describedbelow. In these embodiments, the toy 14 can send signals to the remotecontrol 12 to inform the remote control of one or more statuses orconditions of the toy. The output of haptic sensations, and thecharacteristics of those haptic sensations (e.g., type of sensation,magnitude, frequency, duration, etc.), can be based solely or partiallyon these signals.

In one embodiment, one or more sensors are mounted on the toy 14. Forexample, referring to FIG. 1, a sensor 32 can be mounted to the frontbumper 33 of the car 14. When the car impacts or collides with anobstacle that is in the sensing range of the sensor 32, the sensor 32detects the collision and immediately relays status signals to theremote control 12 that the collision has occurred. In some embodiments,the sensor 32 can be an on/off sensor, detecting only whether acollision has occurred or not. In other embodiments, more sophisticatedsensors can be used, such as analog sensors, which detect the strengthof the collisions.

The sensor 32 can be any of a variety of different types of sensors. Forexample, an optical sensor with emitter and detector, a magnetic sensor,a mechanical contact sensor, analog potentiometers that measure themotion of a contact member, or other types of sensors for detectingcontact can be used. Alternatively, or additionally, one or more sensorscan be positioned at other areas of the toy to detect contact in thoseareas, such as at a rear bumper or other rear surface, a side surface,the underside of the toy, etc.

The signals sent from the toy 14 to the remote control 12 can have thesame broadcast carrier frequency as the signals transmitted from remotecontrol to toy, or can have a different frequency. The remote control12, upon receiving the signal from the toy, can command a tactilesensation appropriate to the signal.

A variety of haptic sensations can be provided. If a collision isdetected by the sensor 32, the controller (see FIG. 7) can command ajolt, pulse, or vibration to the housing of the remote control. The userthus feels haptic feedback correlated to what the toy is experiencing.This can be not only more entertaining for the user, but also useful ina variety of contexts. For example, if the toy moves out of the sight ofthe user and collides with a wall, the user can be informed hapticallyand will know that the toy must be controlled in reverse to back awayfrom the wall. If multiple sensors at different locations of the toy arebeing used, then a front collision can be associated with a differenthaptic sensation than a rear collision of the toy, a left side collisioncan be associated with a different haptic sensation than a right sidecollision, etc. For example, a front collision can be associated with ajolt or vibration having a high frequency and/or magnitude, while a rearcollision can be associated with a jolt or vibration having a lowerfrequency and/or magnitude. If the remote control 12 includes multipleactuator assemblies 50, then the assemblies can be positioned in theremote control housing to correlate with locations on the toy. Forexample, one assembly can be positioned on the left side of the remotecontrol, and the other assembly positioned on the right side. When thetoy impacts something on its right side, the right actuator assembly canbe controlled to output a jolt or vibration, so that the user feels ahaptic sensation on the right side of the controller. Similardirectional tactile feedback is described in copending application no.60/242,918, filed Oct. 23, 2000 which is incorporated herein byreference in its entirety.

In addition, the magnitude of the haptic sensations can be correlatedwith a speed of the toy that is assumed from the throttle control on theremote control 12. For example, if the lever 20 has been pushed forwardto its full extent, then it is assumed the toy is moving very fast andthat when a collision occurs, it is a strong one. Thus, a high-magnitudejolt or vibration is output. If, on the other hand, the lever 20 ispositioned only slightly away from its origin position when a collisionis sensed by the sensor 32, a slow toy speed is assumed and alower-magnitude sensation can be output on the remote control 12.

In embodiments providing an analog sensor, force sensor, orvariable-state sensor as sensor 32, different haptic sensations can bemore realistically associated with different degrees of collision orcontact as sensed by the sensors. For example, the sensor 32 candirectly sense whether a collision is a strong one, and the magnitude ofthe correlated haptic sensation can be proportionally adjusted. Thus, amid-strength collision can be associated with a haptic sensation havinga magnitude in the middle of the available output range. This canprovide a more realistic correlation between collision strength andhaptic sensation strength, since a speed of the toy is not assumed, andan actual collision strength is measured.

Haptic sensations can also be based on a combination of toy status, asrelayed by the sensor(s) 32, and user manipulation of a manipulandum orcontrol on the remote control 12. For example, a centering spring forceoutput in the degree of freedom of a steering wheel or knob on remotecontrol 12 can be based on the current position of that wheel or knob,and can be combined with a jolt force that is output based on a sensedcollision of the toy with another object.

FIG. 5 is a side elevational view of a toy vehicle 200 similar to thetoy 14 of FIG. 1, but has been modified to provide signals to the remotecontrol 12. Toy 200 includes an inertial sensor 202 (e.g., anaccelerometer) which can sense the accelerations to which the toy 200 issubject.

Such inertial sensors can take a variety of different embodiments. Forexample, Inertial sensor 202 can be a lower-cost single-axisaccelerometer that can measure accelerations in only one axis. This typeof sensor can be placed to sense only front-back, top-bottom, orside-to-side accelerations, if desired. Alternatively, this type ofaccelerometer can be positioned in toy 200 at an angle, as shown in FIG.5, so it can sense both vertical (top-bottom) and front-backaccelerations. For example, placing the accelerometer at a 45-degreeangle allows sensing in both these dimensions/axes (where a controllersuch as a local microprocessor can interpret the signals from theaccelerometer to determine which accelerations are occurring in whichdimensions). The sensor can be positioned at other angles to measureaccelerations in other dimensions. In higher-cost embodiments,multi-axis accelerometers can be used to provide separate signals foreach sensed dimension.

Use of the accelerometer allows the user to feel haptic sensations thatcan be correlated with a variety of interactions that the toy isexperiencing. For example, the accelerometer can sense and send statussignals and data to the remote control representative of accelerationson the toy indicating the toy is bouncing over rough terrain or downstairs, landing after jumping off a ramp, or sideswiping another toy orobject. Different haptic sensations can be output on the remote control12 which simulate or indicate all of these conditions on the toy.

The accelerometer can also be used in conjunction with multiple actuatorassemblies 50 placed at different locations on the remote control 12, asdescribed above. For example, sensed accelerations of the car in afront-back axis can cause actuator assemblies positioned at the frontand back of the remote control 12 to output haptic sensations incorrelation with the sensed accelerations. Left/right actuatorassemblies can similarly provide left/right differentiation to the user.

FIG. 6 is a perspective view of one example embodiment 230 for akinesthetic force feedback implementation of the remote control 12.Up/down lever 20 is shown coupled by a shaft 234 to a rotary actuator232, which can be a DC motor, for example, or other type of actuator.The actuator 232 can output forces in the rotary degree of freedom ofthe lever 20 as controlled by actuator signals from a local controllersuch as a microprocessor. In addition, a sensor can be coupled to thesame shaft 234 to determine the position of the lever 20 in its degreeof freedom. A similar actuator can be coupled to lever 22 to drive thatlever in its left-right degree of freedom.

Other embodiments can employ different types of actuators, such as voicecoil actuators, moving magnet actuators, brushed or brushless motors,etc. Also, some embodiments can provide passive actuators that output aresistance on the lever, but cannot output an active force on the lever;such actuators include magnetic particle brakes, fluid brakes, or otherbrake-like devices.

Other controls on the remote control 230 can be similarly provided withkinesthetic force feedback. Buttons, for example, can be coupled toactuators to output forces in the degree of freedom of the button, asdisclosed in U.S. Pat. No. 6,184,868. Knobs, dials, linear sliders orswitches, steering wheels, trackballs, direction pads, joysticks andother controls can also be actuated.

Kinesthetic force feedback on the controls of the remote control canoffer greater realism to experienced haptic effects. For example, springforces can be output on the levers 20 and 22 to provide a centeringfunction without having to use mechanical springs. Furthermore, when thetoy is moving faster, the spring magnitude can be controlled to behigher to simulate the increased road forces on the steering of the car.In addition, if a local sensor such as an accelerometer detects that thecar is airborne, the spring magnitude can be made zero to simulate thefeel of light steering when the car loses contact with the road. Whenthe car is experiencing a bumpy or rough terrain, the accelerometers onthe car can provide the data back to the remote control to causevibration or other forces on the lever that simulates the bumpiness andmay cause some difficulty to the user in steering the toy.

FIG. 7 is a block diagram illustrating a haptic feedback remote controldevice 12 and toy device 14 of the present invention. Remote control 12and toy 14 can be any of the described embodiments herein.

As explained above, toy device 14 can include electronic components forreceiving signals and controlling motion of the toy. In someembodiments, the toy device 14 may include a processor 300, such as amicroprocessor or other controller (hardware state machines, digitallogic, an ASIC, etc.), which can receive sensor signals from sensor 32(if a sensor is included on the toy) and which can output signals tocontrol any output devices 302, such as motors that turn the frontwheels for steering, wheel motors or other motors providing locomotionof the toy, any audio output devices such as a horn, and any visualoutput devices such as lights. In other embodiments, circuitry otherthan a processor 300 can be used for providing signals to output devices302 and receiving signals from sensors 32 can be provided; for example,an analog control system can receive the signals from the remote controlto drive the appropriate motors of the toy 14. An ASIC, state machines,or other logic can also be used. Any other required components for usewith processor 300 may also be included, such as memory, I/O circuitry,etc.

Processor 300 of the toy device 14 has a communication link 306 with theremote control device 12, as explained above. This link can be wirelessthrough the use of RF or signals of other frequencies, or through a wireor other physical connection. In some embodiments, the link in one way,from the remote control device 12 to the toy 14. In other embodiments,the link is bi-directional.

The haptic feedback remote control device 12 may include a localprocessor 310 which handles the input, output, and control functions ofthe remote control. The local processor 310 can be provided withsoftware (firmware) instructions to monitor the controls of the remotecontrol device 12, wait for information sent from the toy device 14, andprovide signals to the actuators of the remote control device to controlhaptic sensations. Processor 330 can include one microprocessor chip, ormultiple processors and/or co-processor chips. In other embodiments,microprocessor 330 can include digital signal processor (DSP)functionality, or be implemented as control logic components, and ASIC,or hardware state machine instead of an actual microprocessor chip.

A local clock 312 can be coupled to the processor 330 to provide timingdata which might be required, for example, to compute forces output byactuators of the remote control 12. Local memory 314, such as RAM and/orROM, can be coupled to processor 310 to store instructions for processor310 and store temporary and other data.

Sensor interface 316 may optionally be included in device 12 to convertsensor signals to signals that can be interpreted by the processor 310.For example, sensor interface 316 can receive and convert signals from adigital sensor such as an encoder or from an analog sensor using ananalog to digital converter (ADC). Such circuits, or equivalentcircuits, are well known to those skilled in the art. Alternately,processor 310 can perform these interface functions. Sensors 318 sensethe position, motion, and/or other characteristics of particularcontrols of remote control device 12; for example, sensors 318 can sensethe motion or position of levers 20 and 22 and any other buttons,switches, joysticks, trackballs, etc. on the remote control 12. Sensors318 provide signals to processor 310 including informationrepresentative of that motion or position. Example of sensors suitablefor embodiments described herein are analog potentiometers, Hall effectsensors, digital rotary optical encoders, linear optical encoders,optical sensors such as a lateral effect photo diode, velocity sensors(e.g., tachometers) and/or acceleration sensors (e.g., accelerometers).Furthermore, either relative or absolute sensors can be employed.

Actuator interface 320 can be optionally connected between the actuatorsof remote control device 12 and processor 310 to convert signals frommicroprocessor 310 into signals appropriate to drive the actuators.Interface 320 can include power amplifiers, switches, digital to analogcontrollers (DACs), and other components well known to those skilled inthe art.

Actuators 322 transmit forces, as described above, to the housing of theremote control 12 and/or particular controls 324 of remote controldevice 12 in one or more directions along one or more degrees of freedomin response to signals output by processor 310, i.e., they are “computercontrolled.” Actuators 322 can include the actuator assembly 50 orrotary actuator 234 described above. The actuators can a variety ofdevices, such as linear current control motors, stepper motors,pneumatic/hydraulic active actuators, a torquer (motor with limitedangular range), magnetic particle brakes, friction brakes, orpneumatic/hydraulic passive actuators.

Power supply 326 can be coupled to actuator interface 320 and/or toactuators 322 to provide electrical power to the actuator and othercomponents of the remote control 12. As described above, power supply326 is preferably batteries or other portable power supply.

Other input devices 328 can be included in device 12 and send inputsignals to microprocessor 310. Such input devices can include otherbuttons, dials, knobs, switches, voice recognition hardware, or otherinput mechanisms as described above. A safety or “deadman” switch can beincluded in some embodiments to provide a mechanism to allow a user tooverride and deactivate forces output by actuators 322.

The operation of the system is now generally described. In the simpler,lower-cost embodiment, the sensors 318 can detect motion of controlssuch as levers 20 and 22 by the user and send the appropriate signals tothe processor 310. The processor 310 then sends the appropriate controlsignals to the toy device 14 to control it in accordance with the usermanipulation of the controls. The processor 310 also sends actuatorsignals to the actuator assembly(ies) 50 to output haptic sensations inaccordance with the control manipulated and the way that control ismanipulated. In the more sophisticated embodiments, the toy device 14can send signals to the remote control 12. In those embodiments, thelocal processor 310 receives signals from local sensors 318 as well asinformation from the sensors 32 on the toy device 14. The localprocessor then determines the haptic sensations to be output andcontrols the actuators 322 accordingly, as well as sending controlsignals to the toy device in accordance with the present usermanipulation of the remote control 12.

While this invention has been described in terms of several preferredembodiments, it is contemplated that alterations, permutations, andequivalents thereof will become apparent to those skilled in the artupon a reading of the specification and study of the drawings.Furthermore, certain terminology has been used for the purposes ofdescriptive clarity, and not to limit the present invention. It istherefore intended that the following appended claims include all suchalterations, permutations and equivalents as fall within the true spiritand scope of the present invention.

What is claimed is:
 1. A remote control comprising: a housing; a manipulandum configured to cause a control signal to be sent to a remotely-controlled device; a plurality of haptic actuators configured to output haptic sensations, wherein the plurality of haptic actuators are positioned on the housing of the remote control in a configuration that corresponds similarly to a physical positional relationship between a plurality of sensors positioned on the remotely-controlled device; a receiver configured to receive one or more sensor signals from the plurality of sensors positioned on the remotely-controlled device; and a processor in communication with the plurality of haptic actuators and the receiver, the processor configured to: receive a sensor signal from a sensor of the plurality of sensors positioned on the remotely-controlled device, the sensor signal being indicative of a contact between the remotely-controlled device and an external object; generate an actuator signal based at least in part on the sensor signal received from the remotely-controlled device, the actuator signal being configured to cause a haptic actuator of the plurality of haptic actuators to output a haptic sensation; and transmit the actuator signal to the haptic actuator, wherein the haptic actuator is positioned in a first physical location on the housing of the remote control that corresponds similarly to a second physical location on the remotely-controlled device of the sensor that generated the sensor signal.
 2. The remote control of claim 1, wherein the sensor signal from the sensor positioned on the remotely-controlled device is associated with a movement of the remotely-controlled device.
 3. The remote control of claim 2, wherein the sensor positioned on the remotely-controlled device comprises a contact sensor.
 4. The remote control of claim 2, wherein the sensor positioned on the remotely-controlled device comprises a pressure sensor.
 5. The remote control of claim 2, wherein the sensor positioned on the remotely-controlled device comprises an accelerometer.
 6. The remote control of claim 1, wherein the manipulandum comprises a throttle control.
 7. The remote control of claim 1, wherein the manipulandum comprises a directional control.
 8. The remote control of claim 1, wherein the remotely-controlled device comprises a remotely-controlled toy.
 9. The remote control of claim 1, wherein the remotely-controlled device comprises a remotely-controlled car.
 10. The remote control of claim 1, wherein the haptic actuator comprises an inertial mass actuator.
 11. The remote control of claim 1, wherein the processor is further configured to generate the actuator signal based at least in part on a state of the remotely-controlled device and a state of the manipulandum.
 12. The remote control of claim 1, wherein each haptic actuator in the plurality of haptic actuators is coupled to the housing of the remote control in a physical location that is similar to where a particular sensor in the plurality of sensors is physically positioned on the housing of the remotely-controlled device.
 13. A system comprising: a remotely-controlled device comprising: a first receiver configured to receive one or more control signals, a plurality of sensors configured to sense a contact between the remotely-controlled device and an external object, wherein the plurality of sensors are physically arranged around a perimeter of the remotely-controlled device, and a transmitter configured to transmit signals associated with sensor signals from the plurality of sensors; and a remote control for remotely controlling the remotely-controlled device, the remote control comprising: a housing; a manipulandum configured to cause a control signal to be sent to the remotely-controlled device; a plurality of haptic actuators configured to output haptic sensations, wherein the plurality of haptic actuators are positioned on the housing of the remote control in a configuration that corresponds similarly to a physical positional relationship between the plurality of sensors positioned on the remotely-controlled device; a second receiver configured to receive one or more sensor signals from the plurality of sensors positioned on the remotely-controlled device; and a processor in communication with the plurality of actuators and the second receiver, the processor configured to: receive a sensor signal from a sensor of the plurality of sensors positioned on the remotely-controlled device; generate an actuator signal based at least in part on the sensor signal received from the remotely-controlled device, the actuator signal being configured to cause a haptic actuator of the plurality of haptic actuators to output a haptic sensation; and transmit the actuator signal to the haptic actuator, wherein the haptic actuator is positioned in a first physical location on the housing of the remote control that corresponds similarly to a second physical location around the perimeter of the remotely-controlled device of the sensor that generated the sensor signal.
 14. A system as received in claim 13, wherein the sensor signal from the sensor positioned on the remotely-controlled device is associated with a movement of the remotely-controlled device.
 15. A system as recited in claim 13, wherein the sensor positioned on the remotely-controlled device comprises a contact sensor, a pressure sensor, or an accelerometer.
 16. A system as recited in claim 13, wherein the manipulandum comprises a throttle control or a directional control.
 17. A system as recited in claim 13, wherein the remotely-controlled device comprises a remotely-controlled toy or a remotely-controlled car.
 18. A system as recited in claim 13, wherein the haptic actuator comprises an inertial mass actuator.
 19. A system as recited in claim 13, wherein the processor is further configured to generate the actuator signal based at least in part on a state of the remotely-controlled device and a state of the manipulandum.
 20. The remote control of claim 1, wherein the processor is further configured to: select the haptic actuator from among the plurality of haptic actuators based on the first physical location of the haptic actuator on the housing of the remote control corresponding to the second physical location of the sensor on the remotely-controlled device. 